Upload folder using huggingface_hub
Browse files- .gitattributes +5 -0
- 0/0_0.mcap +3 -0
- 0/metadata.yaml +102 -0
- 0/robot_config.yaml +66 -0
- 0/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4 +3 -0
- 0/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4 +3 -0
- 0/videos/zed_zed_node_left_image_rect_color_compressed.mp4 +3 -0
- 1/1_0.mcap +3 -0
- 1/metadata.yaml +102 -0
- 1/robot_config.yaml +66 -0
- 1/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4 +3 -0
- 1/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4 +3 -0
- 1/videos/zed_zed_node_left_image_rect_color_compressed.mp4 +3 -0
- 2/2_0.mcap +3 -0
- 2/metadata.yaml +102 -0
- 2/robot_config.yaml +66 -0
- 2/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4 +3 -0
- 2/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4 +3 -0
- 2/videos/zed_zed_node_left_image_rect_color_compressed.mp4 +3 -0
- 3/3_0.mcap +3 -0
- 3/metadata.yaml +102 -0
- 3/robot_config.yaml +66 -0
- 3/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4 +3 -0
- 3/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4 +3 -0
- 3/videos/zed_zed_node_left_image_rect_color_compressed.mp4 +3 -0
- 4/4_0.mcap +3 -0
- 4/metadata.yaml +102 -0
- 4/robot_config.yaml +66 -0
- 4/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4 +3 -0
- 4/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4 +3 -0
- 4/videos/zed_zed_node_left_image_rect_color_compressed.mp4 +3 -0
.gitattributes
CHANGED
|
@@ -57,3 +57,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
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| 57 |
# Video files - compressed
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| 58 |
*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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| 57 |
# Video files - compressed
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| 58 |
*.mp4 filter=lfs diff=lfs merge=lfs -text
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| 59 |
*.webm filter=lfs diff=lfs merge=lfs -text
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| 60 |
+
0/0_0.mcap filter=lfs diff=lfs merge=lfs -text
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| 61 |
+
1/1_0.mcap filter=lfs diff=lfs merge=lfs -text
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| 62 |
+
2/2_0.mcap filter=lfs diff=lfs merge=lfs -text
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| 63 |
+
3/3_0.mcap filter=lfs diff=lfs merge=lfs -text
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| 64 |
+
4/4_0.mcap filter=lfs diff=lfs merge=lfs -text
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0/0_0.mcap
ADDED
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@@ -0,0 +1,3 @@
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| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:5b0c64f822a48dafde8ebef621fa7049a384882fbb1799e25f12d99cf6eefbf9
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| 3 |
+
size 6476602
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0/metadata.yaml
ADDED
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@@ -0,0 +1,102 @@
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| 1 |
+
rosbag2_bagfile_information:
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| 2 |
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version: 9
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| 3 |
+
storage_identifier: mcap
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| 4 |
+
duration:
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| 5 |
+
nanoseconds: 20120160757
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| 6 |
+
starting_time:
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| 7 |
+
nanoseconds_since_epoch: 1768381720031742106
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| 8 |
+
message_count: 14982
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| 9 |
+
topics_with_message_count:
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| 10 |
+
- topic_metadata:
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| 11 |
+
name: /cmd_vel
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| 12 |
+
type: geometry_msgs/msg/Twist
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| 13 |
+
serialization_format: cdr
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| 14 |
+
offered_qos_profiles:
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| 15 |
+
[]
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| 16 |
+
type_description_hash: ""
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| 17 |
+
message_count: 2013
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| 18 |
+
- topic_metadata:
|
| 19 |
+
name: /leader/joystick_controller_right/joint_trajectory
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| 20 |
+
type: trajectory_msgs/msg/JointTrajectory
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| 21 |
+
serialization_format: cdr
|
| 22 |
+
offered_qos_profiles:
|
| 23 |
+
[]
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| 24 |
+
type_description_hash: ""
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| 25 |
+
message_count: 2013
|
| 26 |
+
- topic_metadata:
|
| 27 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 28 |
+
type: trajectory_msgs/msg/JointTrajectory
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| 29 |
+
serialization_format: cdr
|
| 30 |
+
offered_qos_profiles:
|
| 31 |
+
[]
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| 32 |
+
type_description_hash: ""
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| 33 |
+
message_count: 2009
|
| 34 |
+
- topic_metadata:
|
| 35 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 36 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 37 |
+
serialization_format: cdr
|
| 38 |
+
offered_qos_profiles:
|
| 39 |
+
[]
|
| 40 |
+
type_description_hash: ""
|
| 41 |
+
message_count: 2007
|
| 42 |
+
- topic_metadata:
|
| 43 |
+
name: /odom
|
| 44 |
+
type: nav_msgs/msg/Odometry
|
| 45 |
+
serialization_format: cdr
|
| 46 |
+
offered_qos_profiles:
|
| 47 |
+
[]
|
| 48 |
+
type_description_hash: ""
|
| 49 |
+
message_count: 2011
|
| 50 |
+
- topic_metadata:
|
| 51 |
+
name: /joint_states
|
| 52 |
+
type: sensor_msgs/msg/JointState
|
| 53 |
+
serialization_format: cdr
|
| 54 |
+
offered_qos_profiles:
|
| 55 |
+
[]
|
| 56 |
+
type_description_hash: ""
|
| 57 |
+
message_count: 2011
|
| 58 |
+
- topic_metadata:
|
| 59 |
+
name: /camera_right/camera_right/color/image_rect_raw/compressed/metadata
|
| 60 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 61 |
+
serialization_format: cdr
|
| 62 |
+
offered_qos_profiles:
|
| 63 |
+
[]
|
| 64 |
+
type_description_hash: ""
|
| 65 |
+
message_count: 302
|
| 66 |
+
- topic_metadata:
|
| 67 |
+
name: /camera_left/camera_left/color/image_rect_raw/compressed/metadata
|
| 68 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 69 |
+
serialization_format: cdr
|
| 70 |
+
offered_qos_profiles:
|
| 71 |
+
[]
|
| 72 |
+
type_description_hash: ""
|
| 73 |
+
message_count: 302
|
| 74 |
+
- topic_metadata:
|
| 75 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 76 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 77 |
+
serialization_format: cdr
|
| 78 |
+
offered_qos_profiles:
|
| 79 |
+
[]
|
| 80 |
+
type_description_hash: ""
|
| 81 |
+
message_count: 2013
|
| 82 |
+
- topic_metadata:
|
| 83 |
+
name: /zed/zed_node/left/image_rect_color/compressed/metadata
|
| 84 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 85 |
+
serialization_format: cdr
|
| 86 |
+
offered_qos_profiles:
|
| 87 |
+
[]
|
| 88 |
+
type_description_hash: ""
|
| 89 |
+
message_count: 301
|
| 90 |
+
compression_format: ""
|
| 91 |
+
compression_mode: ""
|
| 92 |
+
relative_file_paths:
|
| 93 |
+
- 0_0.mcap
|
| 94 |
+
files:
|
| 95 |
+
- path: 0_0.mcap
|
| 96 |
+
starting_time:
|
| 97 |
+
nanoseconds_since_epoch: 1768381720031742106
|
| 98 |
+
duration:
|
| 99 |
+
nanoseconds: 20120160757
|
| 100 |
+
message_count: 14982
|
| 101 |
+
custom_data: ~
|
| 102 |
+
ros_distro: jazzy
|
0/robot_config.yaml
ADDED
|
@@ -0,0 +1,66 @@
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|
| 1 |
+
action_topics:
|
| 2 |
+
leader_head: /leader/joystick_controller_left/joint_trajectory
|
| 3 |
+
leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 4 |
+
leader_lift: /leader/joystick_controller_right/joint_trajectory
|
| 5 |
+
leader_mobile: /cmd_vel
|
| 6 |
+
leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 7 |
+
camera_topics:
|
| 8 |
+
cam_head: /zed/zed_node/left/image_rect_color/compressed
|
| 9 |
+
cam_wrist_left: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 10 |
+
cam_wrist_right: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 11 |
+
created_at: '2026-01-14 09:09:00'
|
| 12 |
+
joint_order:
|
| 13 |
+
leader_head:
|
| 14 |
+
- head_joint1
|
| 15 |
+
- head_joint2
|
| 16 |
+
leader_left:
|
| 17 |
+
- arm_l_joint1
|
| 18 |
+
- arm_l_joint2
|
| 19 |
+
- arm_l_joint3
|
| 20 |
+
- arm_l_joint4
|
| 21 |
+
- arm_l_joint5
|
| 22 |
+
- arm_l_joint6
|
| 23 |
+
- arm_l_joint7
|
| 24 |
+
- gripper_l_joint1
|
| 25 |
+
leader_lift:
|
| 26 |
+
- lift_joint
|
| 27 |
+
leader_mobile:
|
| 28 |
+
- linear_x
|
| 29 |
+
- linear_y
|
| 30 |
+
- angular_z
|
| 31 |
+
leader_right:
|
| 32 |
+
- arm_r_joint1
|
| 33 |
+
- arm_r_joint2
|
| 34 |
+
- arm_r_joint3
|
| 35 |
+
- arm_r_joint4
|
| 36 |
+
- arm_r_joint5
|
| 37 |
+
- arm_r_joint6
|
| 38 |
+
- arm_r_joint7
|
| 39 |
+
- gripper_r_joint1
|
| 40 |
+
robot_type: ffw_sg2_rev1
|
| 41 |
+
state_topics:
|
| 42 |
+
follower_mobile: /odom
|
| 43 |
+
follower_upper_body: /joint_states
|
| 44 |
+
total_joint_order:
|
| 45 |
+
- arm_l_joint1
|
| 46 |
+
- arm_l_joint2
|
| 47 |
+
- arm_l_joint3
|
| 48 |
+
- arm_l_joint4
|
| 49 |
+
- arm_l_joint5
|
| 50 |
+
- arm_l_joint6
|
| 51 |
+
- arm_l_joint7
|
| 52 |
+
- gripper_l_joint1
|
| 53 |
+
- arm_r_joint1
|
| 54 |
+
- arm_r_joint2
|
| 55 |
+
- arm_r_joint3
|
| 56 |
+
- arm_r_joint4
|
| 57 |
+
- arm_r_joint5
|
| 58 |
+
- arm_r_joint6
|
| 59 |
+
- arm_r_joint7
|
| 60 |
+
- gripper_r_joint1
|
| 61 |
+
- head_joint1
|
| 62 |
+
- head_joint2
|
| 63 |
+
- lift_joint
|
| 64 |
+
- linear_x
|
| 65 |
+
- linear_y
|
| 66 |
+
- angular_z
|
0/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4106a91b94f42b16be345f36367460bb0b3e24fbef337b0399605ed8682862c3
|
| 3 |
+
size 617108
|
0/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca91a8524420a8c611fbe5a685f083ad3915f459c79b0c9b0b768b399b4e9be5
|
| 3 |
+
size 511750
|
0/videos/zed_zed_node_left_image_rect_color_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9c13b62df6a37263c48a9f67b677f5a04e28792dc8858aa1d6e7a518af54d684
|
| 3 |
+
size 1545984
|
1/1_0.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3ed01d8cbccc4ee82ed1730827d0cfcbef022a79157096b9443a67a04735a504
|
| 3 |
+
size 6441326
|
1/metadata.yaml
ADDED
|
@@ -0,0 +1,102 @@
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|
| 1 |
+
rosbag2_bagfile_information:
|
| 2 |
+
version: 9
|
| 3 |
+
storage_identifier: mcap
|
| 4 |
+
duration:
|
| 5 |
+
nanoseconds: 20008606315
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1768381750624251891
|
| 8 |
+
message_count: 14897
|
| 9 |
+
topics_with_message_count:
|
| 10 |
+
- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
|
| 13 |
+
serialization_format: cdr
|
| 14 |
+
offered_qos_profiles:
|
| 15 |
+
[]
|
| 16 |
+
type_description_hash: ""
|
| 17 |
+
message_count: 2001
|
| 18 |
+
- topic_metadata:
|
| 19 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 20 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 21 |
+
serialization_format: cdr
|
| 22 |
+
offered_qos_profiles:
|
| 23 |
+
[]
|
| 24 |
+
type_description_hash: ""
|
| 25 |
+
message_count: 2001
|
| 26 |
+
- topic_metadata:
|
| 27 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 28 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 29 |
+
serialization_format: cdr
|
| 30 |
+
offered_qos_profiles:
|
| 31 |
+
[]
|
| 32 |
+
type_description_hash: ""
|
| 33 |
+
message_count: 1996
|
| 34 |
+
- topic_metadata:
|
| 35 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 36 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 37 |
+
serialization_format: cdr
|
| 38 |
+
offered_qos_profiles:
|
| 39 |
+
[]
|
| 40 |
+
type_description_hash: ""
|
| 41 |
+
message_count: 1997
|
| 42 |
+
- topic_metadata:
|
| 43 |
+
name: /odom
|
| 44 |
+
type: nav_msgs/msg/Odometry
|
| 45 |
+
serialization_format: cdr
|
| 46 |
+
offered_qos_profiles:
|
| 47 |
+
[]
|
| 48 |
+
type_description_hash: ""
|
| 49 |
+
message_count: 2001
|
| 50 |
+
- topic_metadata:
|
| 51 |
+
name: /joint_states
|
| 52 |
+
type: sensor_msgs/msg/JointState
|
| 53 |
+
serialization_format: cdr
|
| 54 |
+
offered_qos_profiles:
|
| 55 |
+
[]
|
| 56 |
+
type_description_hash: ""
|
| 57 |
+
message_count: 2000
|
| 58 |
+
- topic_metadata:
|
| 59 |
+
name: /camera_right/camera_right/color/image_rect_raw/compressed/metadata
|
| 60 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 61 |
+
serialization_format: cdr
|
| 62 |
+
offered_qos_profiles:
|
| 63 |
+
[]
|
| 64 |
+
type_description_hash: ""
|
| 65 |
+
message_count: 300
|
| 66 |
+
- topic_metadata:
|
| 67 |
+
name: /camera_left/camera_left/color/image_rect_raw/compressed/metadata
|
| 68 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 69 |
+
serialization_format: cdr
|
| 70 |
+
offered_qos_profiles:
|
| 71 |
+
[]
|
| 72 |
+
type_description_hash: ""
|
| 73 |
+
message_count: 301
|
| 74 |
+
- topic_metadata:
|
| 75 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 76 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 77 |
+
serialization_format: cdr
|
| 78 |
+
offered_qos_profiles:
|
| 79 |
+
[]
|
| 80 |
+
type_description_hash: ""
|
| 81 |
+
message_count: 2001
|
| 82 |
+
- topic_metadata:
|
| 83 |
+
name: /zed/zed_node/left/image_rect_color/compressed/metadata
|
| 84 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 85 |
+
serialization_format: cdr
|
| 86 |
+
offered_qos_profiles:
|
| 87 |
+
[]
|
| 88 |
+
type_description_hash: ""
|
| 89 |
+
message_count: 299
|
| 90 |
+
compression_format: ""
|
| 91 |
+
compression_mode: ""
|
| 92 |
+
relative_file_paths:
|
| 93 |
+
- 1_0.mcap
|
| 94 |
+
files:
|
| 95 |
+
- path: 1_0.mcap
|
| 96 |
+
starting_time:
|
| 97 |
+
nanoseconds_since_epoch: 1768381750624251891
|
| 98 |
+
duration:
|
| 99 |
+
nanoseconds: 20008606315
|
| 100 |
+
message_count: 14897
|
| 101 |
+
custom_data: ~
|
| 102 |
+
ros_distro: jazzy
|
1/robot_config.yaml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
action_topics:
|
| 2 |
+
leader_head: /leader/joystick_controller_left/joint_trajectory
|
| 3 |
+
leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 4 |
+
leader_lift: /leader/joystick_controller_right/joint_trajectory
|
| 5 |
+
leader_mobile: /cmd_vel
|
| 6 |
+
leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 7 |
+
camera_topics:
|
| 8 |
+
cam_head: /zed/zed_node/left/image_rect_color/compressed
|
| 9 |
+
cam_wrist_left: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 10 |
+
cam_wrist_right: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 11 |
+
created_at: '2026-01-14 09:09:30'
|
| 12 |
+
joint_order:
|
| 13 |
+
leader_head:
|
| 14 |
+
- head_joint1
|
| 15 |
+
- head_joint2
|
| 16 |
+
leader_left:
|
| 17 |
+
- arm_l_joint1
|
| 18 |
+
- arm_l_joint2
|
| 19 |
+
- arm_l_joint3
|
| 20 |
+
- arm_l_joint4
|
| 21 |
+
- arm_l_joint5
|
| 22 |
+
- arm_l_joint6
|
| 23 |
+
- arm_l_joint7
|
| 24 |
+
- gripper_l_joint1
|
| 25 |
+
leader_lift:
|
| 26 |
+
- lift_joint
|
| 27 |
+
leader_mobile:
|
| 28 |
+
- linear_x
|
| 29 |
+
- linear_y
|
| 30 |
+
- angular_z
|
| 31 |
+
leader_right:
|
| 32 |
+
- arm_r_joint1
|
| 33 |
+
- arm_r_joint2
|
| 34 |
+
- arm_r_joint3
|
| 35 |
+
- arm_r_joint4
|
| 36 |
+
- arm_r_joint5
|
| 37 |
+
- arm_r_joint6
|
| 38 |
+
- arm_r_joint7
|
| 39 |
+
- gripper_r_joint1
|
| 40 |
+
robot_type: ffw_sg2_rev1
|
| 41 |
+
state_topics:
|
| 42 |
+
follower_mobile: /odom
|
| 43 |
+
follower_upper_body: /joint_states
|
| 44 |
+
total_joint_order:
|
| 45 |
+
- arm_l_joint1
|
| 46 |
+
- arm_l_joint2
|
| 47 |
+
- arm_l_joint3
|
| 48 |
+
- arm_l_joint4
|
| 49 |
+
- arm_l_joint5
|
| 50 |
+
- arm_l_joint6
|
| 51 |
+
- arm_l_joint7
|
| 52 |
+
- gripper_l_joint1
|
| 53 |
+
- arm_r_joint1
|
| 54 |
+
- arm_r_joint2
|
| 55 |
+
- arm_r_joint3
|
| 56 |
+
- arm_r_joint4
|
| 57 |
+
- arm_r_joint5
|
| 58 |
+
- arm_r_joint6
|
| 59 |
+
- arm_r_joint7
|
| 60 |
+
- gripper_r_joint1
|
| 61 |
+
- head_joint1
|
| 62 |
+
- head_joint2
|
| 63 |
+
- lift_joint
|
| 64 |
+
- linear_x
|
| 65 |
+
- linear_y
|
| 66 |
+
- angular_z
|
1/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc61f7a9074f7268f14204442a4f59eeb6fc5980961754e98b4b6cb392852744
|
| 3 |
+
size 598727
|
1/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3756407a7cb4d01e6d52d2cdb8f0c5af35dcd86f3a44116f089d8b9b560b2436
|
| 3 |
+
size 498923
|
1/videos/zed_zed_node_left_image_rect_color_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:661460ee707cd395aac1bcc3f0496f03ebe7efcd59aa169788aedd6364799091
|
| 3 |
+
size 1635385
|
2/2_0.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7b3ac19ebd7dd00d45f500be4e4189264ce636afbc3f2f3315c0b51ef19a9e68
|
| 3 |
+
size 6417786
|
2/metadata.yaml
ADDED
|
@@ -0,0 +1,102 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
|
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|
|
|
|
|
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|
|
| 1 |
+
rosbag2_bagfile_information:
|
| 2 |
+
version: 9
|
| 3 |
+
storage_identifier: mcap
|
| 4 |
+
duration:
|
| 5 |
+
nanoseconds: 20008183149
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1768381780963536295
|
| 8 |
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message_count: 14859
|
| 9 |
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topics_with_message_count:
|
| 10 |
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- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
|
| 13 |
+
serialization_format: cdr
|
| 14 |
+
offered_qos_profiles:
|
| 15 |
+
[]
|
| 16 |
+
type_description_hash: ""
|
| 17 |
+
message_count: 2001
|
| 18 |
+
- topic_metadata:
|
| 19 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 20 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 21 |
+
serialization_format: cdr
|
| 22 |
+
offered_qos_profiles:
|
| 23 |
+
[]
|
| 24 |
+
type_description_hash: ""
|
| 25 |
+
message_count: 2001
|
| 26 |
+
- topic_metadata:
|
| 27 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 28 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 29 |
+
serialization_format: cdr
|
| 30 |
+
offered_qos_profiles:
|
| 31 |
+
[]
|
| 32 |
+
type_description_hash: ""
|
| 33 |
+
message_count: 1981
|
| 34 |
+
- topic_metadata:
|
| 35 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 36 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 37 |
+
serialization_format: cdr
|
| 38 |
+
offered_qos_profiles:
|
| 39 |
+
[]
|
| 40 |
+
type_description_hash: ""
|
| 41 |
+
message_count: 1993
|
| 42 |
+
- topic_metadata:
|
| 43 |
+
name: /odom
|
| 44 |
+
type: nav_msgs/msg/Odometry
|
| 45 |
+
serialization_format: cdr
|
| 46 |
+
offered_qos_profiles:
|
| 47 |
+
[]
|
| 48 |
+
type_description_hash: ""
|
| 49 |
+
message_count: 1988
|
| 50 |
+
- topic_metadata:
|
| 51 |
+
name: /joint_states
|
| 52 |
+
type: sensor_msgs/msg/JointState
|
| 53 |
+
serialization_format: cdr
|
| 54 |
+
offered_qos_profiles:
|
| 55 |
+
[]
|
| 56 |
+
type_description_hash: ""
|
| 57 |
+
message_count: 1994
|
| 58 |
+
- topic_metadata:
|
| 59 |
+
name: /camera_right/camera_right/color/image_rect_raw/compressed/metadata
|
| 60 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 61 |
+
serialization_format: cdr
|
| 62 |
+
offered_qos_profiles:
|
| 63 |
+
[]
|
| 64 |
+
type_description_hash: ""
|
| 65 |
+
message_count: 301
|
| 66 |
+
- topic_metadata:
|
| 67 |
+
name: /camera_left/camera_left/color/image_rect_raw/compressed/metadata
|
| 68 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 69 |
+
serialization_format: cdr
|
| 70 |
+
offered_qos_profiles:
|
| 71 |
+
[]
|
| 72 |
+
type_description_hash: ""
|
| 73 |
+
message_count: 300
|
| 74 |
+
- topic_metadata:
|
| 75 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 76 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 77 |
+
serialization_format: cdr
|
| 78 |
+
offered_qos_profiles:
|
| 79 |
+
[]
|
| 80 |
+
type_description_hash: ""
|
| 81 |
+
message_count: 2001
|
| 82 |
+
- topic_metadata:
|
| 83 |
+
name: /zed/zed_node/left/image_rect_color/compressed/metadata
|
| 84 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 85 |
+
serialization_format: cdr
|
| 86 |
+
offered_qos_profiles:
|
| 87 |
+
[]
|
| 88 |
+
type_description_hash: ""
|
| 89 |
+
message_count: 299
|
| 90 |
+
compression_format: ""
|
| 91 |
+
compression_mode: ""
|
| 92 |
+
relative_file_paths:
|
| 93 |
+
- 2_0.mcap
|
| 94 |
+
files:
|
| 95 |
+
- path: 2_0.mcap
|
| 96 |
+
starting_time:
|
| 97 |
+
nanoseconds_since_epoch: 1768381780963536295
|
| 98 |
+
duration:
|
| 99 |
+
nanoseconds: 20008183149
|
| 100 |
+
message_count: 14859
|
| 101 |
+
custom_data: ~
|
| 102 |
+
ros_distro: jazzy
|
2/robot_config.yaml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
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|
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|
|
|
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|
|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
action_topics:
|
| 2 |
+
leader_head: /leader/joystick_controller_left/joint_trajectory
|
| 3 |
+
leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 4 |
+
leader_lift: /leader/joystick_controller_right/joint_trajectory
|
| 5 |
+
leader_mobile: /cmd_vel
|
| 6 |
+
leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 7 |
+
camera_topics:
|
| 8 |
+
cam_head: /zed/zed_node/left/image_rect_color/compressed
|
| 9 |
+
cam_wrist_left: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 10 |
+
cam_wrist_right: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 11 |
+
created_at: '2026-01-14 09:10:00'
|
| 12 |
+
joint_order:
|
| 13 |
+
leader_head:
|
| 14 |
+
- head_joint1
|
| 15 |
+
- head_joint2
|
| 16 |
+
leader_left:
|
| 17 |
+
- arm_l_joint1
|
| 18 |
+
- arm_l_joint2
|
| 19 |
+
- arm_l_joint3
|
| 20 |
+
- arm_l_joint4
|
| 21 |
+
- arm_l_joint5
|
| 22 |
+
- arm_l_joint6
|
| 23 |
+
- arm_l_joint7
|
| 24 |
+
- gripper_l_joint1
|
| 25 |
+
leader_lift:
|
| 26 |
+
- lift_joint
|
| 27 |
+
leader_mobile:
|
| 28 |
+
- linear_x
|
| 29 |
+
- linear_y
|
| 30 |
+
- angular_z
|
| 31 |
+
leader_right:
|
| 32 |
+
- arm_r_joint1
|
| 33 |
+
- arm_r_joint2
|
| 34 |
+
- arm_r_joint3
|
| 35 |
+
- arm_r_joint4
|
| 36 |
+
- arm_r_joint5
|
| 37 |
+
- arm_r_joint6
|
| 38 |
+
- arm_r_joint7
|
| 39 |
+
- gripper_r_joint1
|
| 40 |
+
robot_type: ffw_sg2_rev1
|
| 41 |
+
state_topics:
|
| 42 |
+
follower_mobile: /odom
|
| 43 |
+
follower_upper_body: /joint_states
|
| 44 |
+
total_joint_order:
|
| 45 |
+
- arm_l_joint1
|
| 46 |
+
- arm_l_joint2
|
| 47 |
+
- arm_l_joint3
|
| 48 |
+
- arm_l_joint4
|
| 49 |
+
- arm_l_joint5
|
| 50 |
+
- arm_l_joint6
|
| 51 |
+
- arm_l_joint7
|
| 52 |
+
- gripper_l_joint1
|
| 53 |
+
- arm_r_joint1
|
| 54 |
+
- arm_r_joint2
|
| 55 |
+
- arm_r_joint3
|
| 56 |
+
- arm_r_joint4
|
| 57 |
+
- arm_r_joint5
|
| 58 |
+
- arm_r_joint6
|
| 59 |
+
- arm_r_joint7
|
| 60 |
+
- gripper_r_joint1
|
| 61 |
+
- head_joint1
|
| 62 |
+
- head_joint2
|
| 63 |
+
- lift_joint
|
| 64 |
+
- linear_x
|
| 65 |
+
- linear_y
|
| 66 |
+
- angular_z
|
2/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e5544df6b6414eb7c0ef001ed701330909022ae0c2eedf13eb8b74616004ee4
|
| 3 |
+
size 629743
|
2/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b97be7333adc8b74424f5693062dd41ffd1d0c4f19772b329564e38eb305369
|
| 3 |
+
size 517384
|
2/videos/zed_zed_node_left_image_rect_color_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:94a505c07c18255f2b55624264f3451c765c29d6e8c85b3c3d2940c2a8eec72f
|
| 3 |
+
size 1664924
|
3/3_0.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ffd7604a1ee818fa20dd167cf4727e361c33ec54221483c308aadab843ac4c60
|
| 3 |
+
size 6440571
|
3/metadata.yaml
ADDED
|
@@ -0,0 +1,102 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
rosbag2_bagfile_information:
|
| 2 |
+
version: 9
|
| 3 |
+
storage_identifier: mcap
|
| 4 |
+
duration:
|
| 5 |
+
nanoseconds: 19976393873
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1768381811974389518
|
| 8 |
+
message_count: 14899
|
| 9 |
+
topics_with_message_count:
|
| 10 |
+
- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
|
| 13 |
+
serialization_format: cdr
|
| 14 |
+
offered_qos_profiles:
|
| 15 |
+
[]
|
| 16 |
+
type_description_hash: ""
|
| 17 |
+
message_count: 2001
|
| 18 |
+
- topic_metadata:
|
| 19 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 20 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 21 |
+
serialization_format: cdr
|
| 22 |
+
offered_qos_profiles:
|
| 23 |
+
[]
|
| 24 |
+
type_description_hash: ""
|
| 25 |
+
message_count: 2001
|
| 26 |
+
- topic_metadata:
|
| 27 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 28 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 29 |
+
serialization_format: cdr
|
| 30 |
+
offered_qos_profiles:
|
| 31 |
+
[]
|
| 32 |
+
type_description_hash: ""
|
| 33 |
+
message_count: 1998
|
| 34 |
+
- topic_metadata:
|
| 35 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 36 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 37 |
+
serialization_format: cdr
|
| 38 |
+
offered_qos_profiles:
|
| 39 |
+
[]
|
| 40 |
+
type_description_hash: ""
|
| 41 |
+
message_count: 1998
|
| 42 |
+
- topic_metadata:
|
| 43 |
+
name: /odom
|
| 44 |
+
type: nav_msgs/msg/Odometry
|
| 45 |
+
serialization_format: cdr
|
| 46 |
+
offered_qos_profiles:
|
| 47 |
+
[]
|
| 48 |
+
type_description_hash: ""
|
| 49 |
+
message_count: 2000
|
| 50 |
+
- topic_metadata:
|
| 51 |
+
name: /joint_states
|
| 52 |
+
type: sensor_msgs/msg/JointState
|
| 53 |
+
serialization_format: cdr
|
| 54 |
+
offered_qos_profiles:
|
| 55 |
+
[]
|
| 56 |
+
type_description_hash: ""
|
| 57 |
+
message_count: 1999
|
| 58 |
+
- topic_metadata:
|
| 59 |
+
name: /camera_right/camera_right/color/image_rect_raw/compressed/metadata
|
| 60 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 61 |
+
serialization_format: cdr
|
| 62 |
+
offered_qos_profiles:
|
| 63 |
+
[]
|
| 64 |
+
type_description_hash: ""
|
| 65 |
+
message_count: 300
|
| 66 |
+
- topic_metadata:
|
| 67 |
+
name: /camera_left/camera_left/color/image_rect_raw/compressed/metadata
|
| 68 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 69 |
+
serialization_format: cdr
|
| 70 |
+
offered_qos_profiles:
|
| 71 |
+
[]
|
| 72 |
+
type_description_hash: ""
|
| 73 |
+
message_count: 301
|
| 74 |
+
- topic_metadata:
|
| 75 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 76 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 77 |
+
serialization_format: cdr
|
| 78 |
+
offered_qos_profiles:
|
| 79 |
+
[]
|
| 80 |
+
type_description_hash: ""
|
| 81 |
+
message_count: 2001
|
| 82 |
+
- topic_metadata:
|
| 83 |
+
name: /zed/zed_node/left/image_rect_color/compressed/metadata
|
| 84 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 85 |
+
serialization_format: cdr
|
| 86 |
+
offered_qos_profiles:
|
| 87 |
+
[]
|
| 88 |
+
type_description_hash: ""
|
| 89 |
+
message_count: 300
|
| 90 |
+
compression_format: ""
|
| 91 |
+
compression_mode: ""
|
| 92 |
+
relative_file_paths:
|
| 93 |
+
- 3_0.mcap
|
| 94 |
+
files:
|
| 95 |
+
- path: 3_0.mcap
|
| 96 |
+
starting_time:
|
| 97 |
+
nanoseconds_since_epoch: 1768381811974389518
|
| 98 |
+
duration:
|
| 99 |
+
nanoseconds: 19976393873
|
| 100 |
+
message_count: 14899
|
| 101 |
+
custom_data: ~
|
| 102 |
+
ros_distro: jazzy
|
3/robot_config.yaml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
action_topics:
|
| 2 |
+
leader_head: /leader/joystick_controller_left/joint_trajectory
|
| 3 |
+
leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 4 |
+
leader_lift: /leader/joystick_controller_right/joint_trajectory
|
| 5 |
+
leader_mobile: /cmd_vel
|
| 6 |
+
leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 7 |
+
camera_topics:
|
| 8 |
+
cam_head: /zed/zed_node/left/image_rect_color/compressed
|
| 9 |
+
cam_wrist_left: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 10 |
+
cam_wrist_right: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 11 |
+
created_at: '2026-01-14 09:10:31'
|
| 12 |
+
joint_order:
|
| 13 |
+
leader_head:
|
| 14 |
+
- head_joint1
|
| 15 |
+
- head_joint2
|
| 16 |
+
leader_left:
|
| 17 |
+
- arm_l_joint1
|
| 18 |
+
- arm_l_joint2
|
| 19 |
+
- arm_l_joint3
|
| 20 |
+
- arm_l_joint4
|
| 21 |
+
- arm_l_joint5
|
| 22 |
+
- arm_l_joint6
|
| 23 |
+
- arm_l_joint7
|
| 24 |
+
- gripper_l_joint1
|
| 25 |
+
leader_lift:
|
| 26 |
+
- lift_joint
|
| 27 |
+
leader_mobile:
|
| 28 |
+
- linear_x
|
| 29 |
+
- linear_y
|
| 30 |
+
- angular_z
|
| 31 |
+
leader_right:
|
| 32 |
+
- arm_r_joint1
|
| 33 |
+
- arm_r_joint2
|
| 34 |
+
- arm_r_joint3
|
| 35 |
+
- arm_r_joint4
|
| 36 |
+
- arm_r_joint5
|
| 37 |
+
- arm_r_joint6
|
| 38 |
+
- arm_r_joint7
|
| 39 |
+
- gripper_r_joint1
|
| 40 |
+
robot_type: ffw_sg2_rev1
|
| 41 |
+
state_topics:
|
| 42 |
+
follower_mobile: /odom
|
| 43 |
+
follower_upper_body: /joint_states
|
| 44 |
+
total_joint_order:
|
| 45 |
+
- arm_l_joint1
|
| 46 |
+
- arm_l_joint2
|
| 47 |
+
- arm_l_joint3
|
| 48 |
+
- arm_l_joint4
|
| 49 |
+
- arm_l_joint5
|
| 50 |
+
- arm_l_joint6
|
| 51 |
+
- arm_l_joint7
|
| 52 |
+
- gripper_l_joint1
|
| 53 |
+
- arm_r_joint1
|
| 54 |
+
- arm_r_joint2
|
| 55 |
+
- arm_r_joint3
|
| 56 |
+
- arm_r_joint4
|
| 57 |
+
- arm_r_joint5
|
| 58 |
+
- arm_r_joint6
|
| 59 |
+
- arm_r_joint7
|
| 60 |
+
- gripper_r_joint1
|
| 61 |
+
- head_joint1
|
| 62 |
+
- head_joint2
|
| 63 |
+
- lift_joint
|
| 64 |
+
- linear_x
|
| 65 |
+
- linear_y
|
| 66 |
+
- angular_z
|
3/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c5e7cc697061eed0350c790cca48f1e8e0b43766a9ee9bbeec1ccdb91e0a5179
|
| 3 |
+
size 634199
|
3/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:43473e1bed53dadff84a4a4cf1a08b4520f04695cb7cc22f2c36d448b49a87ea
|
| 3 |
+
size 516381
|
3/videos/zed_zed_node_left_image_rect_color_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ae050bf7c81af2b5e21d135a0e339486eedc66c146dd409c066adf0e151518a8
|
| 3 |
+
size 1642109
|
4/4_0.mcap
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ad8492aef6c78c92a02d59df9d4d65c9f7d38203cb9cbc13349405d3823a20eb
|
| 3 |
+
size 6433899
|
4/metadata.yaml
ADDED
|
@@ -0,0 +1,102 @@
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|
| 1 |
+
rosbag2_bagfile_information:
|
| 2 |
+
version: 9
|
| 3 |
+
storage_identifier: mcap
|
| 4 |
+
duration:
|
| 5 |
+
nanoseconds: 20016962364
|
| 6 |
+
starting_time:
|
| 7 |
+
nanoseconds_since_epoch: 1768381842435353193
|
| 8 |
+
message_count: 14884
|
| 9 |
+
topics_with_message_count:
|
| 10 |
+
- topic_metadata:
|
| 11 |
+
name: /cmd_vel
|
| 12 |
+
type: geometry_msgs/msg/Twist
|
| 13 |
+
serialization_format: cdr
|
| 14 |
+
offered_qos_profiles:
|
| 15 |
+
[]
|
| 16 |
+
type_description_hash: ""
|
| 17 |
+
message_count: 2002
|
| 18 |
+
- topic_metadata:
|
| 19 |
+
name: /leader/joystick_controller_right/joint_trajectory
|
| 20 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 21 |
+
serialization_format: cdr
|
| 22 |
+
offered_qos_profiles:
|
| 23 |
+
[]
|
| 24 |
+
type_description_hash: ""
|
| 25 |
+
message_count: 2002
|
| 26 |
+
- topic_metadata:
|
| 27 |
+
name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 28 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 29 |
+
serialization_format: cdr
|
| 30 |
+
offered_qos_profiles:
|
| 31 |
+
[]
|
| 32 |
+
type_description_hash: ""
|
| 33 |
+
message_count: 1990
|
| 34 |
+
- topic_metadata:
|
| 35 |
+
name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 36 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 37 |
+
serialization_format: cdr
|
| 38 |
+
offered_qos_profiles:
|
| 39 |
+
[]
|
| 40 |
+
type_description_hash: ""
|
| 41 |
+
message_count: 1993
|
| 42 |
+
- topic_metadata:
|
| 43 |
+
name: /odom
|
| 44 |
+
type: nav_msgs/msg/Odometry
|
| 45 |
+
serialization_format: cdr
|
| 46 |
+
offered_qos_profiles:
|
| 47 |
+
[]
|
| 48 |
+
type_description_hash: ""
|
| 49 |
+
message_count: 1995
|
| 50 |
+
- topic_metadata:
|
| 51 |
+
name: /joint_states
|
| 52 |
+
type: sensor_msgs/msg/JointState
|
| 53 |
+
serialization_format: cdr
|
| 54 |
+
offered_qos_profiles:
|
| 55 |
+
[]
|
| 56 |
+
type_description_hash: ""
|
| 57 |
+
message_count: 2000
|
| 58 |
+
- topic_metadata:
|
| 59 |
+
name: /camera_right/camera_right/color/image_rect_raw/compressed/metadata
|
| 60 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 61 |
+
serialization_format: cdr
|
| 62 |
+
offered_qos_profiles:
|
| 63 |
+
[]
|
| 64 |
+
type_description_hash: ""
|
| 65 |
+
message_count: 301
|
| 66 |
+
- topic_metadata:
|
| 67 |
+
name: /camera_left/camera_left/color/image_rect_raw/compressed/metadata
|
| 68 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 69 |
+
serialization_format: cdr
|
| 70 |
+
offered_qos_profiles:
|
| 71 |
+
[]
|
| 72 |
+
type_description_hash: ""
|
| 73 |
+
message_count: 301
|
| 74 |
+
- topic_metadata:
|
| 75 |
+
name: /leader/joystick_controller_left/joint_trajectory
|
| 76 |
+
type: trajectory_msgs/msg/JointTrajectory
|
| 77 |
+
serialization_format: cdr
|
| 78 |
+
offered_qos_profiles:
|
| 79 |
+
[]
|
| 80 |
+
type_description_hash: ""
|
| 81 |
+
message_count: 2002
|
| 82 |
+
- topic_metadata:
|
| 83 |
+
name: /zed/zed_node/left/image_rect_color/compressed/metadata
|
| 84 |
+
type: rosbag_recorder/msg/ImageMetadata
|
| 85 |
+
serialization_format: cdr
|
| 86 |
+
offered_qos_profiles:
|
| 87 |
+
[]
|
| 88 |
+
type_description_hash: ""
|
| 89 |
+
message_count: 298
|
| 90 |
+
compression_format: ""
|
| 91 |
+
compression_mode: ""
|
| 92 |
+
relative_file_paths:
|
| 93 |
+
- 4_0.mcap
|
| 94 |
+
files:
|
| 95 |
+
- path: 4_0.mcap
|
| 96 |
+
starting_time:
|
| 97 |
+
nanoseconds_since_epoch: 1768381842435353193
|
| 98 |
+
duration:
|
| 99 |
+
nanoseconds: 20016962364
|
| 100 |
+
message_count: 14884
|
| 101 |
+
custom_data: ~
|
| 102 |
+
ros_distro: jazzy
|
4/robot_config.yaml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
| 1 |
+
action_topics:
|
| 2 |
+
leader_head: /leader/joystick_controller_left/joint_trajectory
|
| 3 |
+
leader_left: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
|
| 4 |
+
leader_lift: /leader/joystick_controller_right/joint_trajectory
|
| 5 |
+
leader_mobile: /cmd_vel
|
| 6 |
+
leader_right: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
|
| 7 |
+
camera_topics:
|
| 8 |
+
cam_head: /zed/zed_node/left/image_rect_color/compressed
|
| 9 |
+
cam_wrist_left: /camera_left/camera_left/color/image_rect_raw/compressed
|
| 10 |
+
cam_wrist_right: /camera_right/camera_right/color/image_rect_raw/compressed
|
| 11 |
+
created_at: '2026-01-14 09:11:02'
|
| 12 |
+
joint_order:
|
| 13 |
+
leader_head:
|
| 14 |
+
- head_joint1
|
| 15 |
+
- head_joint2
|
| 16 |
+
leader_left:
|
| 17 |
+
- arm_l_joint1
|
| 18 |
+
- arm_l_joint2
|
| 19 |
+
- arm_l_joint3
|
| 20 |
+
- arm_l_joint4
|
| 21 |
+
- arm_l_joint5
|
| 22 |
+
- arm_l_joint6
|
| 23 |
+
- arm_l_joint7
|
| 24 |
+
- gripper_l_joint1
|
| 25 |
+
leader_lift:
|
| 26 |
+
- lift_joint
|
| 27 |
+
leader_mobile:
|
| 28 |
+
- linear_x
|
| 29 |
+
- linear_y
|
| 30 |
+
- angular_z
|
| 31 |
+
leader_right:
|
| 32 |
+
- arm_r_joint1
|
| 33 |
+
- arm_r_joint2
|
| 34 |
+
- arm_r_joint3
|
| 35 |
+
- arm_r_joint4
|
| 36 |
+
- arm_r_joint5
|
| 37 |
+
- arm_r_joint6
|
| 38 |
+
- arm_r_joint7
|
| 39 |
+
- gripper_r_joint1
|
| 40 |
+
robot_type: ffw_sg2_rev1
|
| 41 |
+
state_topics:
|
| 42 |
+
follower_mobile: /odom
|
| 43 |
+
follower_upper_body: /joint_states
|
| 44 |
+
total_joint_order:
|
| 45 |
+
- arm_l_joint1
|
| 46 |
+
- arm_l_joint2
|
| 47 |
+
- arm_l_joint3
|
| 48 |
+
- arm_l_joint4
|
| 49 |
+
- arm_l_joint5
|
| 50 |
+
- arm_l_joint6
|
| 51 |
+
- arm_l_joint7
|
| 52 |
+
- gripper_l_joint1
|
| 53 |
+
- arm_r_joint1
|
| 54 |
+
- arm_r_joint2
|
| 55 |
+
- arm_r_joint3
|
| 56 |
+
- arm_r_joint4
|
| 57 |
+
- arm_r_joint5
|
| 58 |
+
- arm_r_joint6
|
| 59 |
+
- arm_r_joint7
|
| 60 |
+
- gripper_r_joint1
|
| 61 |
+
- head_joint1
|
| 62 |
+
- head_joint2
|
| 63 |
+
- lift_joint
|
| 64 |
+
- linear_x
|
| 65 |
+
- linear_y
|
| 66 |
+
- angular_z
|
4/videos/camera_left_camera_left_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f03cb61a6d6dd35dfe569bf0eb9c88fcc495bfe3fb6514351d2101e8b2f40c21
|
| 3 |
+
size 618901
|
4/videos/camera_right_camera_right_color_image_rect_raw_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9d2c1fdfe92889697e8fae370c6549c9138e86f590a154f6ba0dc664ff00232f
|
| 3 |
+
size 498228
|
4/videos/zed_zed_node_left_image_rect_color_compressed.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d3f189c8ffae32ed30a6aa08daee326e28c0458b8f3facbe3e2174552ae4b076
|
| 3 |
+
size 1566955
|